1. No category

Orion Software
Manual
VERIPOS
Date: 11.0.2015
Procedure Title:
File Ref.:
REVISION
Orion Software Manual
AB-V-MA-00553
DATE
D2
11.05.2015
D1
D
C
B
A
1
16.07.2014
06.11.2013
24.04.2013
20.03.2013
30.11.2012
16.11.2012
Rev No:
D2
DESCRIPTION
Updated software installation
procedure & updated LAN
feature
Updated features
Add Target Page
Updated features
Updated features
Revisions and proof read
Revision & update
ORIGINATOR
CHECKED
APPROVED
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RM
RR
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AW
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AR
AW
EM
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AW
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CLIENT APPR
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CONTENTS
1.1
1.2
1.3
1.4
2.
ORION CONFIGURATION ........................................................................................................................... 10
2.1
2.2
2.3
3.
PC ORION CONFIGURATION........................................................................................................... 10
2.1.1
System Tab ................................................................................................................... 10
2.1.2
Heading Tab ................................................................................................................. 12
ORION ON VERIPOS LD6 ONLY ...................................................................................................... 13
MOTION CONFIGURATION .............................................................................................................. 15
2.3.1
Speed ............................................................................................................................ 16
2.3.2
Scale ............................................................................................................................. 16
2.3.3
Track Plot ...................................................................................................................... 16
2.3.4
Target............................................................................................................................ 17
2.3.5
Vessel ........................................................................................................................... 18
OVERVIEW OF ORION ................................................................................................................................ 19
3.1
3.2
3.3
3.4
3.5
3.6
4.
INTRODUCTION ...................................................................................................................................5
SOFTWARE PLATFORMS ...................................................................................................................6
SOFTWARE ACTIVATION....................................................................................................................6
INSTALLING DP ORION ON A PC .......................................................................................................6
1.4.1
PC Minimum specification ...............................................................................................6
1.4.2
Software Installation Procedure .......................................................................................7
TABS BAR .......................................................................................................................................... 20
INFORMATION PANEL ...................................................................................................................... 21
3.2.1
Date & Time .................................................................................................................. 21
3.2.2
Solution Status .............................................................................................................. 22
3.2.3
Satellite Constellation ................................................................................................... 22
3.2.4
DOP (HDOP & PDOP) .................................................................................................. 23
3.2.5
Veripos Mode ................................................................................................................ 23
3.2.6
Position (WGS84) ......................................................................................................... 23
3.2.7
Horizontal Error (1ð) ..................................................................................................... 23
3.2.8
Latency ......................................................................................................................... 24
MAIN DISPLAY SCREEN .................................................................................................................. 24
3.3.1
Polar Plot ...................................................................................................................... 24
3.3.2
Heading tab................................................................................................................... 26
3.3.3
Target............................................................................................................................ 27
SYSTEM STATUS DASHBOARD ...................................................................................................... 28
3.4.1
Correction Status .......................................................................................................... 29
3.4.2
Positioning Status ......................................................................................................... 30
VIEW NMEA DATA STRING STATUS .............................................................................................. 31
SHUT DOWN ..................................................................................................................................... 32
TROUBLESHOOTING ................................................................................................................................. 33
APPENDIX I. ........................................................................................................................................................... 36
CONTACT INFORMATION .......................................................................................................................... 36
APPENDIX II. .......................................................................................................................................................... 38
ABBREVIATIONS ......................................................................................................................................... 38
APPENDIX III. ......................................................................................................................................................... 40
USE OF ORION WITH LD5 .......................................................................................................................... 40
APPENDIX IV. ........................................................................................................................................................ 42
VERIPOS REFERENCE STATIONS............................................................................................................ 42
APPENDIX V. ......................................................................................................................................................... 47
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QUALITY STANDARDS ............................................................................................................................... 47
APPENDIX VI. ........................................................................................................................................................ 52
NMEA SENTENCES .................................................................................................................................... 52
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1.1
Orion Software Manual
AB-V-MA-00553
INTRODUCTION
VERIPOS specialise in providing robust data broadcast services for precise positioning
applications for the offshore industry.
The VERIPOS receiver may optionally be equipped with on-board visualisation software
called Orion which is optimised for DP operations. It can also be used with Veripos
Integrated Mobile Units connected to the Orion software running on a PC (connected using
a LAN connection). This manual contains the information required to operate the Orion
software.
Orion is quality and position monitoring software that has been designed specifically for DP
operators and navigation users who need to quickly and continuously assess the quality of
their positioning. It shows key positioning parameters as well as overall solution status.
The display has a fixed format. The information displayed includes:













Rev No:
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Position and Correction Status information
UTC Time
Horizontal Error
Latency
Satellite Polar Plot
PDOP and HDOP
Night Mode access
Constellation status
Solution status
Vessel heading
Course
Speed
Track
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For updates of this document and to access related VERIPOS documentation referenced
please visit the VERIPOS online support system (VOSS): http://help.veripos.com
Related documents:
Operations manual for the Veripos receiver (IMU) in use.
1.2 SOFTWARE PLATFORMS
Orion software can be used on Veripos LD6 Integrated Mobile Unit with a touch panel
display or a PC Running Windows 7 / XP and attached to a Veripos receiver (IMU).
The Orion software requires Microsoft .NET Framework version 3.5 or above to be pre –
installed.
Connection to a PC is by Ethernet connection for input of NMEA data (Appendix V).
1.3 SOFTWARE ACTIVATION
Orion must first be ENABLED as a service in the receiver. Orion is an additional VERIPOS
service. When contacting the Helpdesk for an enable code please specify that a DP service
is required in addition to your GNSS augmentation service. (e.g. DP and Ultra Service.)
See the receiver Operations manual for details on enabling VERIPOS services with your
receiver.
The VERIPOS Helpdesk contact details are available in Appendix I.
1.4 INSTALLING DP ORION ON A PC
Orion uses standard NMEA output strings from the GNSS receiver.
Details of the NMEA strings are on the configuration page of the installed software and are
given in Appendix VI.
1.4.1
PC Minimum specification
Processor:
USB:
Peripherals:
Operating System:
Ethernet:
Serial ports:
DVD +/- R:
Monitor:
Memory:
Hard disk:
CD ROM drive:
Rev No:
D2
Pentium Core 2 Duo
Recommended
Mouse & Keyboard
Windows XP (SP3 only)
Required
If using serial ports for heading input minimum of 1
Optional
17” VGA
2GB RAM
40GB
Recommended
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PC software
1.4.2

PC operating system software can be either Windows 7 or XP

Microsoft .Net Framework Version 3.5 must be installed prior to installing DP Orion.
For most users Veripos supply a PC with the software pre – installed.

Contact Veripos (Appendix I) for advice or assistance if in doubt
Software Installation Procedure
To install the Orion software on a PC:
Attach the device supplied (e.g. disc, USB), extract the compressed file to the PC hard disc
drive (if applicable) and run the Orion installation file (.exe):
Running the Orion Setup.exe will launch the setup wizard. Click Next to proceed with the
installation:
Review and agree to the license agreement then click Next:
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Select the folder which you wish the Orion software to be installed on to. In most
circumstances this should be left as the default directory however this can be changed if
required. Click Next:
Some PC’s (such as VERIPOS PC model 1U-H27-VERIPOS) where graphics driver issues
have been observed - causing Orion stability issues, require Software rendering only to be
selected during installation. For the majority of installations however, Hardware graphics
acceleration should be selected:
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Confirm the Orion software installation by clicking Next. Shortly afterwards, a window will
appear indicating that the software installation has been completed. Click Close to
complete installation:
Once installed and before running the Orion software, ensure the NMEA data input
connection is in place to the PC (using a LAN connection).
Launch the Orion software from the desktop by double clicking on the Orion icon.
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2.
ORION CONFIGURATION
2.1
PC ORION CONFIGURATION
Go to the Configuration section by clicking on the symbol .
If running Orion on a PC, configure the IMU to output the following messages on the
NMEAa port:
GGA, ZDA, GST, GSV, GSA and VTG.
Refer to the Configuration section in your Receivers’ manual for information on how to
make these strings available.
Click on the
2.1.1
icon on the Tabs menu bar and then SYSTEM in the Tabs bar:
System Tab
Select the Type of receiver from the Drop down menu options. The Veripos receivers
which are currently supported by Orion are:



LD5
LD6
LD7
IP Address: Enter the IP address that has been used to attach the NMEA data input from
the receiver, e.g. 192.168.2.5. See the receiver documentation for guidance.
Enter a User ID of your choice.
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In the example above, the User ID is “VER1” and this is used as the name for the Section
displayed as the generic system name.
Click on Apply to use these settings.
The status buttons should be green for each message type when available.
2.1.1.1
System Tab - Re-initialise
The Re-initialise button (highlighted below) is used to re-establish data connection between
the Orion software and an LD5 IMU. For example, if the Ethernet cable between the Orion
PC and the LD5 was temporarily disconnected, following reconnection of the Ethernet
cable, the Re-initialise icon would have to be clicked before NMEA data would be received
in the Orion software (indicated by the green NMEA messages icons within System tab)..
After clicking the Re-initialise button, the NMEA message status icons should change from
red to green:
NOTE: The Re-initialise button is not required when Orion is connected to an LD6 or
LD7 IMU and will be greyed out as a result.
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Heading Tab
If a HDT or THS string is available to provide DP Orion with a heading then enable this by
clicking on enable. This will enable the configuration options:
There are 2 methods to input the data, either via TCP/IP or Serial Port.
TCP/IP
Host: Enter the IP address that has been used to attach the heading data input from the
gyro/receiver, e.g. 192.168.2.8.
Port:
Enter the Client Socket Port number assigned for the data
Select from the drop – down either HDT or THS format.
Click on Apply to use these settings.
When correctly selected the status buttons should be green for the heading message.
Or
Serial Port
Enter the COM Port number that has been used to attach the Heading data input from the
gyro/receiver. Add the matching Baud, Stop bits and Parity information e.g. 9600,8,N,1.
Select from the drop – down either HDT or THS format then click on Apply to use these
settings.
When correctly selected the status buttons should be green for the heading message.
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Heading Offset
Under the heading configuration tab, there is an option to enter a heading offset. This field
would be used to apply a correction (C-O) to the heading input in the event the heading
being input to Orion has a known constant error.
2.2
ORION ON VERIPOS LD6 ONLY
The Orion software is typically provided pre – loaded on an LD6 and may use a touch
screen display for viewing the Orion software suite. Not all software features are in Orion
on the LD6. Some displays may differ to those shown in this manual.
Where Orion is required, first check you have a build of software on the LD6 which includes
Orion.
The LD6 can be used in conjunction with a touchscreen monitor, using a VGA and USB (A)
connection.
Note: When installing the monitor a USB mouse is required for screen calibration.
Attach the monitors VGA and a USB ports to the LD6 and power up.
Go to Home screen / Actions. A “Launch Orion” button is shown when Orion software is
installed on the LD6.
The Veripos Helpdesk can provide further information on a LD6 software build required for
use with Orion.
Before using the software ensure the LD6 is enabled for a DP code and working with
Veripos corrections. The LD6 Operations Quick Guide and Manual provide more
information.
Steps:
1. Power down and disconnect LD6 from the power supply.
2. Connect the touch screen provided to the VGA port and a USB A cable to a
free USB port on the rear of the LD6.
3. Power up the LD6 and touch screen. Allow a few minutes for the LD6 to
start.
4. Attach a USB mouse for use during screen configuration.
5. To Calibrate Screen 1 (LD6 screen - on the LD6 front panel, use the mouse
to navigate to Home/Actions and then Calibrate Screen 1. Follow the onscreen directions to touch the buttons with your finger to calibrate the LD6
screen (Screen 1).
6. Disconnect the USB mouse.
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7. If using a touch screen monitor touch Calibrate Screen 2 and wait until the
display appears on the external touch screen monitor. Follow the on screen
instructions and touch the four points as they appear on screen in turn to
calibrate.
8. When the external screen calibration is completed, on the LD6 screen, touch
Launch Apps then Launch Orion button.
LD6 launch screen for Orion
9. Wait until the Orion application launches and appears on the external
screen, then touch the LD6 backup button to return to the LD6 Home screen.
Heading Tab
If a HDT or THS string is available to input for DP Orion, the following steps will be required
to configure DP Orion for the use of the heading tab:
1. Select a Com port on the LD6 to input the Heading string.
2. From LD6 Home page, go to settings/IO and use the Up/Down arrows to
select the matching com port and press Next
3. Use the Up/Down arrows to navigate to the Device-Gyro Input and press
Next
4. Set up Com port settings to match the output of heading string i.e format,
baud rate, data bits, parity etc.
5. In DP Orion go to the Configuration and Heading tab.
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6. Press Enable and will be green as below:
7. Select which type of message (either HDT or THS) from the drop down
menu
8. Press Apply to confirm set up
2.3
MOTION CONFIGURATION
In this tab you are able to configure the view for the Heading tab.
Once changes have been made user will have to confirm by pressing Apply.
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Orion Software Manual
AB-V-MA-00553
Speed
This option is for the course arrow in the heading view. The arrow will increase and
decrease to a varied size depending on speed. The options are minimum and maximum; a
minimum can be set between 0 and 0.3. If the speed drops below the minimum speed set
the arrow will disappear. The maximum speed can be set up to 20 knots. Once the vessel
reaches the maximum speed set in the software the arrow will remain at its largest touch
the edge of the circle.
2.3.2
Scale
The scale option allows the user to change the scale of the circle. The measure is from the
centre of the circle to the edge of the circle.
2.3.3
Track Plot
The Track Plot will allow for a bubble to be printed on the screen at different intervals as the
vessel moves allowing the user to view the movement of the vessel. There are 2 options to
configure, Points and Interval. Points is the option for how many bubbles are displayed on
screen, and is able to be set from 0 to 15 from the drop down menu and is in incremented
values of 5, if Zero is selected there will be no bubble trail displayed. Interval is how often a
bubble will be plotted on the screen, this is selected from the drop down menu and is
selectable from values of 5 varying between 5 and 30 seconds.
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Orion Software Manual
AB-V-MA-00553
Target
The Target sub tab allows for input of up to three targets T1 – T6.
Only ONE target may be enabled at a time however all six can be configured ready to
enable as and when required.
To enter a target, click in the Name box of a free target entry column and enter a suitable
name e.g. Buoy.
Either enter a range and bearing, click on “Create Target at current location” or type in the
Lat / Long for the target in Degrees/Mins/Secs.
Once all information is entered, click on Apply.
Repeat above for other targets.
To activate a target, select Enable then Apply for that target.
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Vessel
The Vessel sub – tab allows input of dimensions as an approximation for the vessel.
There are two vessel types available to select, these being a standard vessel and a semisubmersible rig shape.
Use the fields for Antenna Offset and Vessel dimensions to enter, in metres to the required
decimal point accuracy, as measured form the Central Reference Point (CRP) of the
vessel.
There are two options available within the Reference field, Centre or Antenna. This
reference is applied within the targets tab, for any targets which are enabled will be relative
to the chosen reference point.
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3.
Orion Software Manual
AB-V-MA-00553
OVERVIEW OF ORION
With the receiver connected the DP Orion software will run when launched.
The home screen will be shown;
Orion Main screen
The main screen elements are:
Rev No:
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
Tabs Bar

Main Display Screen

Information Panel

System Status Dashboard

Message Bar
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Procedure Title:
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3.1
Orion Software Manual
AB-V-MA-00553
TABS BAR
The top tabs bar gives access to switching of the main display between:

Display Polar Plot of satellites tracked and used by the receiver

Heading gives a view of the ships heading along with the course and track if
enabled

View a Target display relative to Vessel

Switch between Day and Night mode screen display formats

Switch to a Configuration screen (on a PC: set up the NMEA data source) set the
heading input and Track and Course arrow settings.
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D2
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3.2
Orion Software Manual
AB-V-MA-00553
INFORMATION PANEL
The side bar displays the Information Panel & provides key data:
3.2.1
Date & Time
When receiving an NMEA data stream the software displays UTC time.
When no NMEA data is present the PC system clock time is displayed and the display
turns from White numbers to red.
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D2
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3.2.2
Orion Software Manual
AB-V-MA-00553
Solution Status
Status information is shown for the correction solution currently being output from the
receiver.
In normal use a single, green illuminated button indicates the solution being output with the
colour indicating status:
Green button = Solution applied
Grey button = Not being applied
Amber button = Shown only against the Stand alone (uncorrected) position when this is
being output
Example: for output of a Precise point position output
Example: for output of a Differential position output
Example: for output of Stand-alone:
3.2.3
Satellite Constellation
Indicates the number of satellites for each constellation (GPS / GLONASS) in use.
Green
when being used
Grey
when not used (e.g. GNSS card not using satellite or constellation)
A dash in the box indicates the information is not available.
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Orion Software Manual
AB-V-MA-00553
DOP (HDOP & PDOP)
The boxes on the main display screen show the respective current values for these two
Dilution of Precision parameters.
3.2.5
Veripos Mode
This region displays in words the current solution status which is determined by the Veripos
corrections being applied (when present).
Ref. info below:
Solution
Determining Factors
2
Apex (GPS + GLO)
ID 81 and 82
Apex (GPS)
ID 81
2
Ultra (GPS + GLO)
ID 68 and 75
Ultra (GPS)
ID 68
Standard (GPS)
None of the ID’s above, DQI=2, GSA only has GPS SV’s
2
Standard (GPS + GLO)
None of the ID’s above, DQI=2, GSA has GPS+GLO SV’s
DQI = 1
Uncorrected
No Solution
3.2.6
DQI = 0 or empty GGA strings
Position (WGS84)
This region displays the Latitude, Longitude (and Height above the Geoid) being output
from the Receiver.
Latitude and Longitude are displayed in DD:MM:SS.XXX (to 3 decimal places decimal) in
the WGS84 model.
Ellipsoidal Height is displayed in metres to 3 decimal places.
3.2.7
Horizontal Error (1ð)
The horizontal error is displayed in metres to 1 decimal place and represented at a
continuous red line trace.
The graph scale is fixed when in operation and will change for different solution status for
Precise, Differential and Stand Alone.
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The time series display shows 1SD or 68% value for the semi-major axis of the position
solutions.
Time period of the display is 10 minutes and populates the view once the software is
started.
3.2.8
Latency
This is a 10 minute historical graph of the “age of differential data” values from the GGA
string.
When present Latency is shown in seconds and represented at a continuous red line trace.
The graph scale is fixed when in operation and will change for different solution status for
Precise, Differential and Stand Alone.
3.3
MAIN DISPLAY SCREEN
Currently there are 3 options to be displayed in the main display screen, selected from the
tabs bar of Polar Plot, Heading and Target.
3.3.1
Polar Plot
The Main screen displays the Polar Plot for satellites above the GNSS antenna mask.
Rev No:
D2
Satellites in use will be displayed
Green
Satellites tracked but not in use will be displayed
Grey
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Circles
represent GPS satellites.
Squares
represent GLONASS satellites.
Satellites being used within the solution calculation are identified as being present within
the GSA string. Satellites being tracked but not used within the solution calculation are
identified as being present within the GSV string but not in GSA string.
3.3.1.1
PDOP
The current PDOP value for the solution being output.
3.3.1.2
HDOP
The current HDOP value for the solution being output.
3.3.1.3
GPS
The number of GPS satellites being used to derive the position
3.3.1.4
GLONASS
The number of GLONASS satellites being used to derive the position
Rev No:
D2
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3.3.2
Orion Software Manual
AB-V-MA-00553
Heading tab
The main screen displays the vessel in relation to the heading and will rotate along with
heading input.
A ”bubble trail”, when enabled, will be displayed to show direction of travel.
3.3.2.1
SOG (knots)
This is the speed of the vessel input from the VTG NMEA message.
3.3.2.2
COG
This is the course of the vessel input from the VTG NMEA message.
3.3.2.3
Heading (true)
This is the heading input if option is enabled. This can be input via an HDT or THS NMEA
message.
3.3.2.4
Dial Radius Scale
Displays the scale from the centre of the circle to the edge of the circle can be edited in the
configuration tab.
3.3.2.5
Beam Icons
Icons of Veripos beam satellites will be displayed at their bearing on the outer of the circle.
This will assist when selecting available beams on the IMU.
Rev No:
D2
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Procedure Title:
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3.3.3
Orion Software Manual
AB-V-MA-00553
Target
The Target screen displays an aerial view of the vessel relative to the selected target,
together with relevant information on the bearing and range, COG, Speed (in knots) and
Heading against scaled range rings. Note that the Vessel outline is not shown to scale.
Targets 1-3 information is shown by default within the Information Panel on the left, to
display the information for targets 4-6, the arrow buttons below the target information can
be used.
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D2
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3.3.3.1
Orion Software Manual
AB-V-MA-00553
Change target / parameters
To add / amend / delete a target go to the configuration
/Target page:
Click on the Target to Add/ change and enter the required information. Then Apply to
confirm.
To use this target, click on Enable then Apply. Only one target may be active at a time.
3.4
SYSTEM STATUS DASHBOARD
The foot of the screen displays a dashboard of six buttons to give an overall summary of
the system status.
It is recommended to ensure that all NMEA messages are turned on at the IMU prior to
starting the Orion software.
When first started the status buttons may be Grey. They change when data is received.
Rev No:
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Green indicates working within pre-set parameters.
Amber indicates alert to operator.
Red indicates an alarm condition to operator.
3.4.1
Correction Status
3.4.1.1
Age
When data is received the age status button parameters (in seconds) are:
Precise

Status Button goes Red when age is
>=360

Status Button goes Amber when age is
>100 and <360

Status Button goes Green when age is
<=100
Differential

Status Button goes Red when age is
>=120

Status Button goes Amber when age is
>60 and <120

Status Button goes Green when age is
<=60
Stand Alone

3.4.1.2
Status Button is Red when Solution Status = Stand Alone
L-Band Lock
When the L-Band module has lock to a VERIPOS beam the button will be green.
If there is no lock to a beam or not available, the button is Red.
3.4.1.3
Signal Strength
The colour of the Signal Strength Button will change depending on the L-Band signal
strength. The parameters for the different button saes are:



Rev No:
D2
Status Button goes red when signal strength is
<32.4dB
Status Button goes amber when signal strength is >32.5dB but <36.5dB
Status Button goes green when signal strength is >36.5dB
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3.4.2
Positioning Status
3.4.2.1
DOP
On start up the DOP Status Button will be Grey.
This will change when data is received.
When data is received the DOP Status Button will behave as follows:
Red
Excessive DOP
Amber
High DOP
Green
Good DOP
Grey
Never received
PDOP value
3.4.2.2

Status Button goes Red when

Status Button goes Amber when PDOP
>4 and <6

Status Button goes Green when PDOP
<=4
PDOP
>=6
2D Error
On first start-up, the 2D Error Status button will be Grey until positional NMEA data is
received.
This will change when data is received.
When data is received the 2D Status Button will behave as follows:
Red
Excessive
Amber
High
Green
Good
Grey
Never received
Precise

Traffic light goes Red when 2D Error
>=0.5 m

Traffic light goes Amber 2D Error
>0.3 m and <0.5m

Traffic light goes Green when 2D Error
<=0.3m
Differential
Rev No:
D2

Traffic light goes Red when 2D Error
>=1.5 m

Traffic light goes Amber 2D Error
>1 m and <1.5m

Traffic light goes Green when 2D Error
<=1m
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Procedure Title:
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Stand Alone
3.4.2.3

Traffic light goes Red when 2D Error
>=1.5 m

Traffic light goes Amber 2D Error
>1 m and <1.5m

Traffic light goes Green when 2D Error
<=1m
Corrected
When started, the Corrected status button will be Grey.
This will change when data is received.
If data is received the Corrected status button will behave as follows:
3.5
Red
Uncorrected Solution
Green
Corrected Solution
Grey
Never received
Traffic light goes Red when DQI
= 1 or 0
Traffic light goes Green when DQI
>1
VIEW NMEA DATA STRING STATUS
Navigate to CONFIGURATION on the tabs bar
and select the System tab.
The NMEA data strings present are represented by the buttons on-screen and must include
GGA, ZDA, GSA, GST, GSV, GSA.
For a Heading message to be used, you will need VTG and (either HDT or THS).
Rev No:
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Button colour / meaning;
Red
Green
Grey
3.6
Information string lost
Information string received
Information string not received
SHUT DOWN
To shut down Verify Orion DP Navigate to the CONFIGURATION
/ System tab.
Select Shut Down. A timer appears confirming your selection before closing Orion.
Select Cancel to stop shut down of Orion
Rev No:
D2
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Procedure Title:
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4.
Orion Software Manual
AB-V-MA-00553
TROUBLESHOOTING
Use this section to assist any problems encountered when using Verify Orion.
Note that the illustrations shown are representative and for later releases the messages
and screens displayed may differ slightly. However, the remedies recommended apply.
PROBLEM:
No data or Polar Plot satellites are displayed: A message appears in the Messages Bar.
“Data Input error. Please check NMEA data inputs within the Configuration tab.”
SOLUTION:
Go to the Configuration page which will display further information on the problem, where
available.
Three types of problem may be displayed;
1. Client socket unable to connect. Please check connection.
-
The configuration information entered may be incorrect.
Cable or connection may be faulty.
2. No data. Please check connection.
- An interruption, breakage or error in the connection to the receiver has occurred.
- If using a LAN connection the socket is connected but no data is received. Check
the receiver configuration.
- Ensure correct NMEA messages are turned on for NMEAa if using a LD5 or LD7.
3. No valid GNSS data. Please check GNSS configuration.
- Position Calculation stopped in receiver and null strings are being output.
Rev No:
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Procedure Title:
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Check the configuration on Orion, all connections and settings on the receiver in line with
the units troubleshooting guidance where required.
PROBLEM:
I shut down my LD6. When re-started, the Orion touch screen does not display Orion.
SOLUTION:
Verify Orion may need to be launched.
From LD6 Home screen, touch Actions/Launch Orion and wait 10 seconds or so for the
application to launch.
PROBLEM:
The screen appears darkened.
SOLUTION:
Night mode has been selected; monitor brightness / contrast has been modified.
Adjust monitor controls or select the Day Mode from the Tabs Bar.
PROBLEM:
The display freezes and the remainder of the screen does not update.
Rev No:
D2
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Procedure Title:
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SOLUTION:
This indicates a total positioning failure caused a by a loss of GNSS input.
Refer to the receiver Operations manual for troubleshooting procedures.
PROBLEM:
Using Orion with an LD6, the unit displays 16 satellites: however the data streams indicate
there are more than 16 satellites available / in use to calculate the position.
SOLUTION:
On an LD6 a maximum of 16 satellites will display.
This is a known issue with the output from RTMFVC on an LD6.
Rev No:
D2
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APPENDIX I.
CONTACT INFORMATION
Rev No:
D2
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VERIPOS CONTACT INFORMATION
All initial contacts regarding technical or support issues should be initially addressed to the
VERIPOS Helpdesk. Where appropriate, the Helpdesk will refer issues to the regional
operations and engineering teams.
Veripos Helpdesk
Helpdesk telephone
+44 (0)1224 965900
Helpdesk e-mail
[email protected]
VERIPOS Online support
http://help.veripos.com
UK Veripos office address:
Veripos House, 1B Farburn Terrace, Dyce,
Aberdeen. AB21 7DT Scotland UK
For other Veripos Office Locations visit www.veripos.com
Rev No:
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APPENDIX II.
ABBREVIATIONS
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ABBREVIATIONS
Apex
BER
CoG
CR
DGPS
DGNSS
DOP
DP
EGNOS
GDOP
GLONASS
GPS
GNSS
HDOP
IMU
IP
KPH
LAN
LF
LNA
L-Band
LCD
LD6
LVTTL
MF
MPH
m/s
MSAS
NMEA
PDOP
PPP
PPS
PRN
RMS
RTCM
SBAS
SD
SDRAM
SNF
SNR
Spotbeam
Standard
SV
Ultra
USB
UTC
VDOP
VGA
VOSS
WAAS
WEEE
Rev No:
D2
VERIPOS High accuracy positioning systems
Bit Error Rate
Course over Ground
Carriage Return
Differential GPS
Differential DGNSS
Dilution of Precision
Dynamic Positioning
European Geostationary Navigation Overlay System
Geometry Dilution of Precision
GLObal NAvigation Satellite System – Russian equivalent to GPS
Global Positioning System
Global Navigation Satellite System
Horizontal Dilution of Precision
Integrated Mobile Unit
Internet Protocol
Kilometres per Hour
Local Area Network
Line Feed
Low Noise Amplifier
Methods of transmitting Correction data to mobile users
Liquid Crystal Display
Unit containing GPS card, demodulator and PC processor
Low Voltage Transistor Transistor Logic
Medium Frequency Radio used to Transmit Correction Data
Miles per Hour
Metres per Second
Multi-functional Satellite Augmentation System
National Marine Electronics Association
Positional Dilution of Precision
Precise Point Positioning
Pulse per Second
Pseudo Random Noise
Root Mean Square
Radio Technical Commission for Maritime Services
Satellite Based Augmentation System
Standard Deviation
Synchronous Dynamic Random Access Memory
Signal Notification Form
Signal to Noise
High Power L-Band Signal
VERIPOS Single frequency DGPS system
Space Vehicle
VERIPOS High accuracy positioning systems
Universal Serial Bus
Coordinated Universal Time
Vertical Dilution of Precision
Video Graphic Array
VERIPOS Online Support System
Wide Area Augmentation System
Waste Electrical and Electronic Equipment
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APPENDIX III.
USE OF ORION WITH LD5
Rev No:
D2
Page 40
Procedure Title:
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AB-V-MA-00553
Orion DP software can be used on a PC connected to the Veripos LD5 IMU using an
Ethernet LAN connection.
Preparation
Ensure a PC meeting the minimum specification is used and ideally has a PC serial port
(DB9) for use with heading input, e.g. from Gyro compass and a LAN card fitted (RJ45).
Connect the PC to the LD5 as detailed below;
LAN Solution output
First if required place the LD5 in LD5 Mode (Config / Config and under Operating Mode
Apply LD5).
Use an RJ45 crossover LAN connection to interface the PC to the LD5. (Newer PC’s may
auto – sense the connection).
Configure LAN working with PC (Windows 7 /XP) loaded with Orion DP software.
On the PC navigate to Control Panel/Network Connections.
Right click on the Local Area connection and select Properties.
In “This connection uses the following items:” window, scroll and highlight “Internet Protocol (TCP/IP)” and
click Properties.
Select the radio button “Use the following IP address:” and enter 192.168.2.4
Now enter in the “Default gateway” the IP address of the LD5 LAN port used;
Amend the LD5 to use its static IP address of 192.168.2.5.
Enter this in to DP Orion and ensure receiver type ‘LD5’ is selected. Click Apply to accept.
Refer to the LD5 Operation manual when configuring for the messages required.
Rev No:
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APPENDIX IV.
VERIPOS REFERENCE STATIONS
Rev No:
D2
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Procedure Title:
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Veripos reference stations.
The latest Veripos Station listing can be found on the Veripos Online Support System via
the following link:
http://help.veripos.com/ics/support/default.asp?deptID=4494&task=knowledge&questionID=3
A list of available reference stations (up-to-date 23rd June 2014) is listed below:
Stn
ID
Name
Beam
Type
1
2
Service Type
3
Standard
Standard2
HF Stations
12
Lagomar
HF
x
14
Carmen
HF
x
North & Central American Stations
501
Houston
GPS
98W
AORW
x
502
Baton Rouge
GPS,GLO
98W
AORW
x
503
Carmen
GPS
98W
AORW
x
504
Trinidad
GPS,GLO
98W
AORW
x
x
505
St Johns
GPS,GLO
98W
AORW
x
x
506
Halifax
GPS
98W
AORW
x
509
Tamps
GPS
98W
AORW
x
510
Tampico
GPS,GLO
98W
AORW
x
511
Costa Rica
GPS
98W
AORW
x
512
Curacao
GPS
98W
AORW
x
513
Fairbanks
GPS,GLO
98W
POR
x
x
x
x
South American Stations
Rev No:
D2
601
Rio de Janeiro
GPS
AORW
98W
x
602
Macae
GPS,GLO
AORW
98W
x
603
Catu
GPS
AORW
98W
x
604
Belem
GPS
AORW
98W
x
605
Natal
GPS,GLO
AORW
98W
x
606
Port Alegre
GPS
AORW
98W
x
607
Buenos Aires
GPS
AORW
98W
x
608
Lima
GPS
AORW
98W
x
609
Chiclayo
GPS
AORW
98W
x
610
Falklands
GPS
AORW
98W
x
Page 43
x
x
Comments
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Stn
ID
Name
Beam
Type
1
2
Service Type
3
Standard
Standard2
NWECS Stations
701
Wick
GPS
AORE
x
702
Netherlands
GPS
25E
AORE
x
703
Bodo
GPS
25E
AORE
x
704
Kristiansund
GPS,GLO
25E
AORE
x
705
Tananger
GPS
25E
AORE
x
706
Falmouth
GPS,GLO
25E
AORE
x
708
Bologna
GPS
25E
AORE
x
709
Cyprus
GPS
25E
AORE
x
710
Marbella
GPS
25E
AORE
x
712
Vardo
GPS
25E
AORE
x
713
Ny Alesund
GPS
25E
AORE
x
714
Malta
GPS,GLO
25E
AORE
x
716
Stockholm
GPS
25E
x
717
Hammerfest
GPS
AORE
x
777
Aberdeen
GPS
25E
AORE
x
AORE
x
x
x
x
African Stations
Rev No:
D2
801
Luanda
GPS
25E
804
Lagos
GPS
AORE
805
Accra
GPS
25E
AORE
x
806
Las Palmas
GPS
25E
AORE
x
807
Cape Verde
GPS,GLO
25E
AORE
x
x
808
Cape Town
GPS,GLO
25E
AORE
x
x
809
Gabon
GPS
AORE
810
Walvis Bay
GPS
25E
AORE
x
812
Mozambique
GPS
25E
IOR
x
813
Dar es Salaam
GPS,GLO
25E
IOR
x
x
814
Sao Tome
GPS,GLO
25E
AORE
x
x
x
x
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Stn
ID
Name
Beam
Type
1
2
Service Type
3
Standard
Standard2
x
Caspian & Middle East Stations
901
Baku
GPS,GLO
IOR
25E
x
902
Aktau
GPS
IOR
25E
x
904
Bahrain
GPS
IOR
25E
x
905
Dubai
GPS,GLO
IOR
25E
x
x
906
Mumbai
GPS,GLO
IOR
143.5E
x
x
907
Kolkata
GPS
IOR
143.5E
x
908
Chennai
GPS,GLO
IOR
143.5E
x
x
x
Far East Stations
301
Singapore
GPS,GLO
143.5E
POR
IOR
x
302
Labuan
GPS
143.5E
POR
IOR
x
303
Jakarta
GPS
143.5E
POR
IOR
x
304
Balikpapan
GPS
143.5E
POR
IOR
x
305
Bangkok
GPS
143.5E
POR
IOR
x
306
Shenzen
GPS
143.5E
POR
IOR
x
307
Shanghai
GPS
143.5E
POR
IOR
x
309
Kushiro
GPS
143.5E
POR
x
310
Sakhalin
GPS,GLO
143.5E
POR
x
311
Kemamam
GPS
313
Manila
GPS,GLO
143.5E
POR
315
Seoul
GPS
143.5E
POR
POR
x
x
IOR
x
x
x
Australia & NZ Stations
Rev No:
D2
401
Darwin
GPS
143.5E
POR
IOR
x
402
Broome
GPS,GLO
143.5E
POR
IOR
x
403
Dampier
GPS
143.5E
POR
IOR
x
404
Perth
GPS
143.5E
POR
IOR
x
406
Melbourne
GPS
143.5E
POR
x
408
Hobart
GPS,GLO
143.5E
POR
x
x
409
Auckland
(New Plymouth)
GPS,GLO
143.5E
POR
x
x
411
Dunedin
GPS
143.5E
POR
x
Page 45
x
Comments
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VERPOS Ultra, Ultra², APEX and APEX2 ID’s
Note: Ultra2 available only when using LD6 with Orion software.
Please specify your requirement when contacting the Helpdesk to enable the Veripos
IMU.
MF / IALA BEACONS:
A listing of IALA MF stations is available from: http://site.ialathree.org/
(Select “IALA Lists of Radio navigation Services”)
Rev No:
D2
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APPENDIX V.
QUALITY STANDARDS
Rev No:
D2
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QUALITY STANDARDS
A number of standards offer marine satellite navigation system users DGNSS
(DGPS/DGPS+DGLONASS) quality information. The most well-known and frequently
referred to standards are:
1. UKOOA
2. NMEA-0183
Each standard is explained in more detail in the following sections.
NMEA have recently introduced the NMEA-2000 interface standard. This standard falls
outside the scope of this document. See www.nmea.org for further information.
References
[1]
Guidelines for the use of Differential GPS in offshore surveying, UKOOA, 1994
[2]
NMEA 0183 Standard for interfacing marine electronic devices, version 3.01,
January 1, 2002
[3]
Guidelines on the use of DGPS as a positioning reference in control systems, IMCA
M 141, October 1997
UKOOA STANDARD
The UK Offshore Operator Association (UKOOA) issued ‘Guidelines for the use of
Differential GPS in offshore surveying’ in 1994. These guidelines set out what is generally
regarded as good practise in the offshore industry. They are not mandatory and operators
are free to adopt different guidelines or standards.
These guidelines are now dated in certain areas due to advancements in positioning
technology and algorithms. However, they contain useful suggestions for quality monitoring
as indicated below [see 1]: “To assist DGPS operators and client representatives to monitor the quality of the
DGPS system in real-time the following information should be continuously
available:
 Pseudo-range residuals of all SV’s and observation weight values used
 Unit variance
 Number of satellites in view and number used in solution
 Redundancy of least squares solution
 DOP values (HDOP, PDOP and VDOP)
 Latency of differential correction data
 Position comparisons derived from different reference stations
 Derived antenna height with respect to “known” height
 Monitor station information, especially position error measured at the monitor
station. All data should be time tagged
 Maximum external reliability figure and observation carrying it”
The UKOOA guidelines present a set of test statistics and quality measures recommended
for use with DGPS. In its final recommendations [see 1] it states: Rev No:
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“It is essential to assess the precision and reliability of each position in order to
ensure the quality of the DGPS measurements. Thus is recommends that the
following processing steps be implemented:  w-test for outliers carried out for each position fix
 F-test for unit variance carried out for each position fix
 When no more outliers are identified in any fix, precision and reliability
measures will be calculated:
o Precision:
a-posteriori error ellipse
o Reliability:
external reliability (positional MDE using a power of
test of 80%)”
Where accuracy and precision statistical parameters are generated these all represent a
95% (2σ) confidence region.
Appendix A of the UKOOA guidelines emphasises this by listing ‘Suggested parameters to
be specified by a system user for typical marine survey operations’ and states that ‘In order
to carry out rigorous QC, the covariance matrix generated by the least squares computation
should be used to generate test statistics and quality measures’.
It recommends the following Test Statistics:
1. w-test
used to detect outliers
2. F-test
used to verify the model which is being used to account for
‘errors’ in the DGPS observations
It recommends also the following Quality Measures:
1. Error Ellipse
an approximate graphical representation of the positional
standard deviation in two dimensions
2. External Reliability
the effect of the maximum MDE (Marginally Detectable Error)
on the computed position
These recommendations are particularly aimed at survey applications but could be applied
equally to DP applications.
Rev No:
D2
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NMEA-0183 STANDARD
The National Marine Electronics Association (NMEA) has developed a specification
defining the interface between various pieces of marine electronic equipment. The standard
permits marine electronics to send information to computers and to other marine equipment
via a serial interface. A full copy of this standard is available for purchase at their web site
(www.nmea.org). The current version of the standard is 3.01.
GPS receiver communication is defined within this specification. The idea of NMEA is to
send a line of data called a sentence that is totally self-contained and independent from
other sentences. There are standard sentences for each device category and in addition
NMEA permits hardware manufactures to define their own proprietary sentences for
whatever purpose they see fit. All standard sentences have a two letter prefix defining the
device using that sentence type. For GPS receivers the prefix is GP followed by a three
letter sequence defining the sentence contents. All proprietary sentences begin with the
letter P and are followed with 3 letters identifying the manufacturer controlling that
sentence.
NMEA consists of sentences, the first word of which, called a data type, defines the
interpretation of the rest of the sentence. Each data type has its own unique interpretation
and is defined in the NMEA standard. Each sentence begins with a '$' and ends with a
carriage return/line feed sequence no longer than 80 characters of visible text (plus the line
terminators). The data is contained within this single line with data items separated by
commas. The data itself is ASCII text and may extend over multiple sentences in certain
specialized instances but is normally fully contained in one variable length sentence. The
data may vary in the amount of precision contained in the sentence. For example time
might be indicated to decimal parts of a second or location may be shown with 3 or even 5
digits after the decimal point. Programs reading the data should only use the commas to
determine the field boundaries and not depend on column positions. There is a provision
for a checksum at the end of each sentence which may or may not be checked by the unit
reading the data. The checksum field consists of a '*' and two hex digits representing the
exclusive OR of all characters between, but not including, the '$' and '*'. A checksum is
required on some sentences.
There have been several changes to the standard but for GPS use the only ones that are
likely to be encountered are 1.5 and 2.0 through 2.3. Version 2.3 added a mode indicator to
several sentences used to indicate the kind of fix the receiver currently has. The value can
be A=autonomous, D=differential, E=Estimated, N=not valid, S=Simulator. Sometimes
there can be a null value as well. Only the A and D values correspond to an active and
reliable sentence. This mode character has been added to the RMC, RMB, VTG, and GLL,
sentences and optionally some others including the BWC and XTE sentences.
The hardware interface for GPS receivers is designed to meet the NMEA requirements.
They are compatible also with most computer serial ports using RS232 protocols, however
strictly speaking the NMEA standard is not RS232. They recommend conformance to EIA422. The interface speed generally can be adjusted but the NMEA standard is 4800 baud
with 8 bits of data, no parity, and one stop bit. All GPS receivers supporting NMEA should
support this speed. Note that, at a baud rate of 4800, you can easily send enough data to
more than fill a full second of time.
At 4800 baud 480 characters per second can be sent. As an NMEA sentence can be as
long as 82 characters this can be limited to less than six different sentences. The actual
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limit is determined by the specific sentences used and it is easy to overrun the capabilities
for rapid sentence response.
A cable is required to connect to the GPS receiver output. Data can be output also via
Ethernet or wireless connection. For general NMEA use with a GPS receiver only two wires
are required in the cable, data out from the GPS receiver and ground.
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APPENDIX VI.
NMEA SENTENCES
Rev No:
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NMEA SENTENCES
This section describes the message structure of the following advanced positioning and QC
output messages: 





GGA
GST
ZDA
GSV
GSA
VTG
NMEA GGA Sentence
The NMEA GGA sentence contains time and position fix related data for a GPS system. It
includes basic quality information, which is limited to ‘Fix Quality’, ‘Number of Satellites in
Use’, ‘HDOP’ and ‘Age of Differential GPS Data’.
Structure and Example: $GPGGA,hhmmss.ss,ddmm.mmm,a,dddmm.mmm,b,q,xx,p.p,a.b,M,c.d,M,x.x,nnnn*hh<CR><LF>
$GPGGA,123519,4807.0378783,N,01131.0054784,E,1,08,0.9,545.4,M,46.9,M,,*47
GGA sentence defined: GGA
hhmmss.ss
ddmm.mmm
a
dddmm.mmm
b
q
xx
p.p
a.b
M
c.d
M
x.x
nnnn
*hh<CR><LF>
Global Positioning System Fix Data
UTC of position
latitude of position
N or S, latitude hemisphere
longitude of position
E or W, longitude hemisphere
GPS Quality indicator (0 = invalid, 1 = GPS SPS, 2 = DGPS fix, 3 = GPS PPS,
4 = Fixed RTK, 5 = Float RTK, 6 = Estimated (dead reckoning), 7 = Manual
Input Mode, 8 = Simulation Mode
number of satellites in use
horizontal dilution of precision
antenna altitude above mean-sea-level
units of antenna altitude, meters
Geoidal height
units of geoidal height, meters
age of differential GPS data
Differential reference station ID, 0000 to 1023
checksum, carriage return and line feed
Verify-QC supports 4 variations of the NMEA GGA. These variations are: -
Rev No:
o
GGA (Default)
o
GGA-DP
D2
number of SV’s can exceed 12 and sentence length can exceed 82
characters. Increased precision (7 decimals for Lat & Lon)
fully NMEA-0183 compatible string. Number of SV’s is limited to 12
and the sentence length is restricted to 82 characters
Page 53
Procedure Title:
File Ref.:
Orion Software Manual
AB-V-MA-00553
o
GGA-Alstom
o
GGA-PPP
number of SV’s is limited to 12 and the sentence length can exceed
82 characters. The latency value equals the actual latency divided by
12 for DGNSS solutions and divided by 36 for the Ultra solution
number of SV’s can exceed 12 and sentence length can exceed 82
characters. The DGPS QI parameter offers the full range from 0-9. It
will show 5 for an Ultra solution and 2 for a DGPS solution. Increased
precision (7 decimals for Lat & Lon)
NMEA GST Sentence
The NMEA GST sentence provides error statistics of the position fix. These statistics follow
from the position calculation process.
Structure and Example:
$GPGST,hhmmss.ss,a.a,b.b,c.c,d.d,e.e,f.f,g.g*hh<CR><LF>
$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58
GST sentence defined:
GST = GNSS Pseudo-range Error Statistics
hhmmss.ss
UTC time in hours, minutes, seconds of the GPS position
a.a
RMS value of the standard deviation of the range inputs to the
navigation process. Range inputs include pseudo-ranges and
differential DGNSS corrections
b.b
Standard deviation of semi-major axis of error ellipse (meters)
c.c
Standard deviation of semi-minor axis of error ellipse (meters)
d.d
Orientation of semi-major axis of error ellipse (meters)
e.e
Standard deviation of latitude error (meters)
f.f
Standard deviation of longitude error (meters)
g.g
Standard deviation of altitude error (meters)
*hh<CR><LF>
checksum, carriage return and line feed
NMEA ZDA Sentence
The NMEA ZDA sentence provides time and time zone information.
Structure and Example:
$GPZDA,hhmmss.ss,dd,mm,yyyy,xx,yy*hh<CR><LF>
$GPZDA,201530.00,04,07,2002,00,00*6E
ZDA sentence defined:
ZDA = Time & Date
hhmmss.ss
dd,mm,yyy
xx
yy
*hh<CR><LF>
Rev No:
D2
UTC time in hours, minutes, seconds of the GPS position
Day,Month,Year (UTC)
local zone hours (00 to +/-13 hrs)
local zone minutes (00 to 59)
checksum, carriage return and line feed
Page 54
Procedure Title:
File Ref.:
Orion Software Manual
AB-V-MA-00553
NMEA GSA Sentence
GSA sentence defined:
GNSS DOP and Active Satellites
GNSS receiver operating mode, satellites used in the navigation solution reported by the GGA or
GNS sentence, and DOP values.
If only GPS, GLONASS, etc. is used for the reported position solution the talker ID is GP, GL, etc.
and the DOP values pertain to the individual system. If GPS, GLONASS, etc. are combined to obtain
the reported position solution multiple GSA sentences are produced, one with the GPS satellites,
another with the GLONASS satellites, etc. Each of these GSA sentences shall have talker ID GN, to
indicate that the satellites are used in a combined solution and each shall have the PDOP, HDOP
and VDOP for the combined satellites used in the position.
Notes:
1) Satellite ID numbers. To avoid possible confusion caused by repetition of satellite ID numbers
when using multiple satellite systems, the following convention has been adopted:
a) GPS satellites are identified by their PRN numbers, which range from 1 to 32.
b) The numbers 33-64 are reserved for WAAS satellites. The WAAS system PRN numbers are
120-138. The offset from NMEA WAAS SV ID to WAAS PRN number is 87. A WAAS PRN
number of 120 minus 87 yields the SV ID of 33. The addition of 87 to the SV ID yields the
WAAS PRN number.
c) The numbers 65-96 are reserved for GLONASS satellites. GLONASS satellites are identified
by 64+satellite slot number. The slot numbers are 1 through 24 for the full GLONASS
constellation of 24 satellites, this gives a range of 65 through 88. The numbers 89 through
96 are available if slot numbers above 24 are allocated to on-orbit spares.
NMEA GSV Sentence
GSV sentence defined:
GNSS Satellites In View
Number of satellites (SV) in view, satellite ID numbers, elevation, azimuth, and SNR value. Four
satellites maximum per transmission. Total number of sentences being transmitted and the number
of the sentence being transmitted are indicated in the first two fields.
If multiple GPS, GLONASS, etc. satellites are in view, use separate GSV sentences with talker ID
GP to show the GPS satellites in view and talker GL to show the GLONASS satellites in view, etc.
The GN identifier shall not be used with this sentence.
Rev No:
D2
Page 55
Procedure Title:
File Ref.:
Orion Software Manual
AB-V-MA-00553
Notes:
1) Satellite information may require the transmission of multiple sentences all containing identical
field formats when sending a complete message. The first field specifies the total number of
sentences, minimum value 1.
The second field identifies the order of this sentence (sentence number), minimum value 1. For
efficiency it is recommended that null fields be used in the additional sentences when the data is
unchanged from the first sentence.
2) A variable number of "Satellite ID-Elevation-Azimuth-SNR" sets are allowed up to a maximum of
four sets per sentence. Null fields are not required for unused sets when less than four sets are
transmitted.
3) Satellite ID numbers. To avoid possible confusion caused by repetition of satellite ID numbers
when using multiple satellite systems, the following convention has been adopted:
a) GPS satellites are identified by their PRN numbers, which range from 1 to 32.
b) The numbers 33-64 are reserved for WAAS satellites. The WAAS system PRN numbers are
120-138. The offset from NMEA WAAS SV ID to WAAS PRN number is 87. A WAAS PRN
number of 120 minus 87 yields the SV ID of 33. The addition of 87 to the SV ID yields the
WAAS PRN number.
c) The numbers 65-96 are reserved for GLONASS satellites. GLONASS satellites are identified
by 64+satellite slot number. The slot numbers are 1 through 24 for the full GLONASS
constellation of 24 satellites, this gives a range of 65 through 88. The numbers 89 through
96 are available if slot numbers above 24 are allocated to on-orbit spares.
Rev No:
D2
Page 56
Procedure Title:
File Ref.:
Orion Software Manual
AB-V-MA-00553
NMEA VTG Sentence
The NMEA VTG sentence provides the actual course and speed relative to the ground.
Structure and Example:
$GPVTG,p.p,T,q.q,M,r.r,N,s.s,K,u*hh<CR><LF>
$GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*33
VTG sentence defined:
VTG = Course over ground and ground speed
p.p
course over ground
T
degrees True
q.q
course over ground
M
degrees Magnetic
r.r
speed over ground
N
knots
s.s
speed over ground
K
km/hr
U
mode indicator (A = Autonomous, D = Differential, E = Estimated)
*hh<CR><LF> checksum, carriage return and line feed
Rev No:
D2
Page 57